// Equations for covariance matrix prediction, without process noise!
const float PS0 = powf(q1, 2);
const float PS1 = 0.25F*daxVar;
const float PS2 = powf(q2, 2);
const float PS3 = 0.25F*dayVar;
const float PS4 = powf(q3, 2);
const float PS5 = 0.25F*dazVar;
const float PS6 = 0.5F*q1;
const float PS7 = 0.5F*q2;
const float PS8 = P(10,11)*PS7;
const float PS9 = 0.5F*q3;
const float PS10 = P(10,12)*PS9;
const float PS11 = 0.5F*dax - 0.5F*dax_b;
const float PS12 = 0.5F*day - 0.5F*day_b;
const float PS13 = 0.5F*daz - 0.5F*daz_b;
const float PS14 = P(0,10) - P(1,10)*PS11 + P(10,10)*PS6 - P(2,10)*PS12 - P(3,10)*PS13 + PS10 + PS8;
const float PS15 = P(10,11)*PS6;
const float PS16 = P(11,12)*PS9;
const float PS17 = P(0,11) - P(1,11)*PS11 + P(11,11)*PS7 - P(2,11)*PS12 - P(3,11)*PS13 + PS15 + PS16;
const float PS18 = P(10,12)*PS6;
const float PS19 = P(11,12)*PS7;
const float PS20 = P(0,12) - P(1,12)*PS11 + P(12,12)*PS9 - P(2,12)*PS12 - P(3,12)*PS13 + PS18 + PS19;
const float PS21 = P(1,2)*PS12;
const float PS22 = -P(1,3)*PS13;
const float PS23 = P(0,1) - P(1,1)*PS11 + P(1,10)*PS6 + P(1,11)*PS7 + P(1,12)*PS9 - PS21 + PS22;
const float PS24 = -P(1,2)*PS11;
const float PS25 = P(2,3)*PS13;
const float PS26 = P(0,2) + P(2,10)*PS6 + P(2,11)*PS7 + P(2,12)*PS9 - P(2,2)*PS12 + PS24 - PS25;
const float PS27 = P(1,3)*PS11;
const float PS28 = -P(2,3)*PS12;
const float PS29 = P(0,3) + P(3,10)*PS6 + P(3,11)*PS7 + P(3,12)*PS9 - P(3,3)*PS13 - PS27 + PS28;
const float PS30 = P(0,1)*PS11;
const float PS31 = P(0,2)*PS12;
const float PS32 = P(0,3)*PS13;
const float PS33 = P(0,0) + P(0,10)*PS6 + P(0,11)*PS7 + P(0,12)*PS9 - PS30 - PS31 - PS32;
const float PS34 = 0.5F*q0;
const float PS35 = q2*q3;
const float PS36 = q0*q1;
const float PS37 = q1*q3;
const float PS38 = q0*q2;
const float PS39 = q1*q2;
const float PS40 = q0*q3;
const float PS41 = -PS2;
const float PS42 = powf(q0, 2);
const float PS43 = -PS4 + PS42;
const float PS44 = PS0 + PS41 + PS43;
const float PS45 = P(0,13) - P(1,13)*PS11 + P(10,13)*PS6 + P(11,13)*PS7 + P(12,13)*PS9 - P(2,13)*PS12 - P(3,13)*PS13;
const float PS46 = PS37 + PS38;
const float PS47 = P(0,15) - P(1,15)*PS11 + P(10,15)*PS6 + P(11,15)*PS7 + P(12,15)*PS9 - P(2,15)*PS12 - P(3,15)*PS13;
const float PS48 = 2*PS47;
const float PS49 = dvy - dvy_b;
const float PS50 = dvx - dvx_b;
const float PS51 = dvz - dvz_b;
const float PS52 = PS49*q0 + PS50*q3 - PS51*q1;
const float PS53 = 2*PS29;
const float PS54 = -PS39 + PS40;
const float PS55 = P(0,14) - P(1,14)*PS11 + P(10,14)*PS6 + P(11,14)*PS7 + P(12,14)*PS9 - P(2,14)*PS12 - P(3,14)*PS13;
const float PS56 = 2*PS55;
const float PS57 = -PS49*q3 + PS50*q0 + PS51*q2;
const float PS58 = 2*PS33;
const float PS59 = PS49*q1 - PS50*q2 + PS51*q0;
const float PS60 = 2*PS59;
const float PS61 = PS49*q2 + PS50*q1 + PS51*q3;
const float PS62 = 2*PS61;
const float PS63 = P(0,4) - P(1,4)*PS11 - P(2,4)*PS12 - P(3,4)*PS13 + P(4,10)*PS6 + P(4,11)*PS7 + P(4,12)*PS9;
const float PS64 = -PS0;
const float PS65 = PS2 + PS43 + PS64;
const float PS66 = PS39 + PS40;
const float PS67 = 2*PS45;
const float PS68 = -PS35 + PS36;
const float PS69 = P(0,5) - P(1,5)*PS11 - P(2,5)*PS12 - P(3,5)*PS13 + P(5,10)*PS6 + P(5,11)*PS7 + P(5,12)*PS9;
const float PS70 = PS4 + PS41 + PS42 + PS64;
const float PS71 = PS35 + PS36;
const float PS72 = 2*PS57;
const float PS73 = -PS37 + PS38;
const float PS74 = 2*PS52;
const float PS75 = P(0,6) - P(1,6)*PS11 - P(2,6)*PS12 - P(3,6)*PS13 + P(6,10)*PS6 + P(6,11)*PS7 + P(6,12)*PS9;
const float PS76 = -P(10,11)*PS34;
const float PS77 = P(0,11)*PS11 + P(1,11) + P(11,11)*PS9 + P(2,11)*PS13 - P(3,11)*PS12 - PS19 + PS76;
const float PS78 = P(0,2)*PS13;
const float PS79 = P(0,3)*PS12;
const float PS80 = P(0,0)*PS11 + P(0,1) - P(0,10)*PS34 + P(0,11)*PS9 - P(0,12)*PS7 + PS78 - PS79;
const float PS81 = P(0,2)*PS11;
const float PS82 = P(1,2) - P(2,10)*PS34 + P(2,11)*PS9 - P(2,12)*PS7 + P(2,2)*PS13 + PS28 + PS81;
const float PS83 = P(10,11)*PS9;
const float PS84 = P(10,12)*PS7;
const float PS85 = P(0,10)*PS11 + P(1,10) - P(10,10)*PS34 + P(2,10)*PS13 - P(3,10)*PS12 + PS83 - PS84;
const float PS86 = -P(10,12)*PS34;
const float PS87 = P(0,12)*PS11 + P(1,12) - P(12,12)*PS7 + P(2,12)*PS13 - P(3,12)*PS12 + PS16 + PS86;
const float PS88 = P(0,3)*PS11;
const float PS89 = P(1,3) - P(3,10)*PS34 + P(3,11)*PS9 - P(3,12)*PS7 - P(3,3)*PS12 + PS25 + PS88;
const float PS90 = P(1,2)*PS13;
const float PS91 = P(1,3)*PS12;
const float PS92 = P(1,1) - P(1,10)*PS34 + P(1,11)*PS9 - P(1,12)*PS7 + PS30 + PS90 - PS91;
const float PS93 = P(0,13)*PS11 + P(1,13) - P(10,13)*PS34 + P(11,13)*PS9 - P(12,13)*PS7 + P(2,13)*PS13 - P(3,13)*PS12;
const float PS94 = P(0,15)*PS11 + P(1,15) - P(10,15)*PS34 + P(11,15)*PS9 - P(12,15)*PS7 + P(2,15)*PS13 - P(3,15)*PS12;
const float PS95 = 2*PS94;
const float PS96 = P(0,14)*PS11 + P(1,14) - P(10,14)*PS34 + P(11,14)*PS9 - P(12,14)*PS7 + P(2,14)*PS13 - P(3,14)*PS12;
const float PS97 = 2*PS96;
const float PS98 = P(0,4)*PS11 + P(1,4) + P(2,4)*PS13 - P(3,4)*PS12 - P(4,10)*PS34 + P(4,11)*PS9 - P(4,12)*PS7;
const float PS99 = 2*PS93;
const float PS100 = P(0,5)*PS11 + P(1,5) + P(2,5)*PS13 - P(3,5)*PS12 - P(5,10)*PS34 + P(5,11)*PS9 - P(5,12)*PS7;
const float PS101 = P(0,6)*PS11 + P(1,6) + P(2,6)*PS13 - P(3,6)*PS12 - P(6,10)*PS34 + P(6,11)*PS9 - P(6,12)*PS7;
const float PS102 = -P(11,12)*PS34;
const float PS103 = P(0,12)*PS12 - P(1,12)*PS13 + P(12,12)*PS6 + P(2,12) + P(3,12)*PS11 - PS10 + PS102;
const float PS104 = P(2,3) - P(3,10)*PS9 - P(3,11)*PS34 + P(3,12)*PS6 + P(3,3)*PS11 + PS22 + PS79;
const float PS105 = P(0,1)*PS13;
const float PS106 = P(0,0)*PS12 - P(0,10)*PS9 - P(0,11)*PS34 + P(0,12)*PS6 + P(0,2) - PS105 + PS88;
const float PS107 = P(11,12)*PS6;
const float PS108 = P(0,11)*PS12 - P(1,11)*PS13 - P(11,11)*PS34 + P(2,11) + P(3,11)*PS11 + PS107 - PS83;
const float PS109 = P(0,10)*PS12 - P(1,10)*PS13 - P(10,10)*PS9 + P(2,10) + P(3,10)*PS11 + PS18 + PS76;
const float PS110 = P(0,1)*PS12;
const float PS111 = -P(1,1)*PS13 - P(1,10)*PS9 - P(1,11)*PS34 + P(1,12)*PS6 + P(1,2) + PS110 + PS27;
const float PS112 = P(2,3)*PS11;
const float PS113 = -P(2,10)*PS9 - P(2,11)*PS34 + P(2,12)*PS6 + P(2,2) + PS112 + PS31 - PS90;
const float PS114 = P(0,13)*PS12 - P(1,13)*PS13 - P(10,13)*PS9 - P(11,13)*PS34 + P(12,13)*PS6 + P(2,13) + P(3,13)*PS11;
const float PS115 = P(0,15)*PS12 - P(1,15)*PS13 - P(10,15)*PS9 - P(11,15)*PS34 + P(12,15)*PS6 + P(2,15) + P(3,15)*PS11;
const float PS116 = 2*PS115;
const float PS117 = P(0,14)*PS12 - P(1,14)*PS13 - P(10,14)*PS9 - P(11,14)*PS34 + P(12,14)*PS6 + P(2,14) + P(3,14)*PS11;
const float PS118 = 2*PS117;
const float PS119 = P(0,4)*PS12 - P(1,4)*PS13 + P(2,4) + P(3,4)*PS11 - P(4,10)*PS9 - P(4,11)*PS34 + P(4,12)*PS6;
const float PS120 = 2*PS114;
const float PS121 = P(0,5)*PS12 - P(1,5)*PS13 + P(2,5) + P(3,5)*PS11 - P(5,10)*PS9 - P(5,11)*PS34 + P(5,12)*PS6;
const float PS122 = P(0,6)*PS12 - P(1,6)*PS13 + P(2,6) + P(3,6)*PS11 - P(6,10)*PS9 - P(6,11)*PS34 + P(6,12)*PS6;
const float PS123 = P(0,10)*PS13 + P(1,10)*PS12 + P(10,10)*PS7 - P(2,10)*PS11 + P(3,10) - PS15 + PS86;
const float PS124 = P(1,1)*PS12 + P(1,10)*PS7 - P(1,11)*PS6 - P(1,12)*PS34 + P(1,3) + PS105 + PS24;
const float PS125 = P(0,0)*PS13 + P(0,10)*PS7 - P(0,11)*PS6 - P(0,12)*PS34 + P(0,3) + PS110 - PS81;
const float PS126 = P(0,12)*PS13 + P(1,12)*PS12 - P(12,12)*PS34 - P(2,12)*PS11 + P(3,12) - PS107 + PS84;
const float PS127 = P(0,11)*PS13 + P(1,11)*PS12 - P(11,11)*PS6 - P(2,11)*PS11 + P(3,11) + PS102 + PS8;
const float PS128 = P(2,10)*PS7 - P(2,11)*PS6 - P(2,12)*PS34 - P(2,2)*PS11 + P(2,3) + PS21 + PS78;
const float PS129 = P(3,10)*PS7 - P(3,11)*PS6 - P(3,12)*PS34 + P(3,3) - PS112 + PS32 + PS91;
const float PS130 = P(0,13)*PS13 + P(1,13)*PS12 + P(10,13)*PS7 - P(11,13)*PS6 - P(12,13)*PS34 - P(2,13)*PS11 + P(3,13);
const float PS131 = P(0,15)*PS13 + P(1,15)*PS12 + P(10,15)*PS7 - P(11,15)*PS6 - P(12,15)*PS34 - P(2,15)*PS11 + P(3,15);
const float PS132 = 2*PS131;
const float PS133 = P(0,14)*PS13 + P(1,14)*PS12 + P(10,14)*PS7 - P(11,14)*PS6 - P(12,14)*PS34 - P(2,14)*PS11 + P(3,14);
const float PS134 = 2*PS133;
const float PS135 = P(0,4)*PS13 + P(1,4)*PS12 - P(2,4)*PS11 + P(3,4) + P(4,10)*PS7 - P(4,11)*PS6 - P(4,12)*PS34;
const float PS136 = 2*PS130;
const float PS137 = P(0,5)*PS13 + P(1,5)*PS12 - P(2,5)*PS11 + P(3,5) + P(5,10)*PS7 - P(5,11)*PS6 - P(5,12)*PS34;
const float PS138 = P(0,6)*PS13 + P(1,6)*PS12 - P(2,6)*PS11 + P(3,6) + P(6,10)*PS7 - P(6,11)*PS6 - P(6,12)*PS34;
const float PS139 = 2*PS46;
const float PS140 = 2*PS54;
const float PS141 = P(0,13)*PS72 + P(1,13)*PS62 - P(13,13)*PS44 + P(13,14)*PS140 - P(13,15)*PS139 + P(2,13)*PS60 - P(3,13)*PS74 + P(4,13);
const float PS142 = P(0,15)*PS72 + P(1,15)*PS62 - P(13,15)*PS44 + P(14,15)*PS140 - P(15,15)*PS139 + P(2,15)*PS60 - P(3,15)*PS74 + P(4,15);
const float PS143 = P(1,3)*PS62;
const float PS144 = P(0,3)*PS72;
const float PS145 = P(2,3)*PS60 - P(3,13)*PS44 + P(3,14)*PS140 - P(3,15)*PS139 - P(3,3)*PS74 + P(3,4) + PS143 + PS144;
const float PS146 = P(0,14)*PS72 + P(1,14)*PS62 - P(13,14)*PS44 + P(14,14)*PS140 - P(14,15)*PS139 + P(2,14)*PS60 - P(3,14)*PS74 + P(4,14);
const float PS147 = P(0,2)*PS60;
const float PS148 = P(0,3)*PS74;
const float PS149 = P(0,0)*PS72 + P(0,1)*PS62 - P(0,13)*PS44 + P(0,14)*PS140 - P(0,15)*PS139 + P(0,4) + PS147 - PS148;
const float PS150 = P(1,2)*PS62;
const float PS151 = P(0,2)*PS72;
const float PS152 = -P(2,13)*PS44 + P(2,14)*PS140 - P(2,15)*PS139 + P(2,2)*PS60 - P(2,3)*PS74 + P(2,4) + PS150 + PS151;
const float PS153 = P(1,2)*PS60;
const float PS154 = P(1,3)*PS74;
const float PS155 = P(0,1)*PS72 + P(1,1)*PS62 - P(1,13)*PS44 + P(1,14)*PS140 - P(1,15)*PS139 + P(1,4) + PS153 - PS154;
const float PS156 = 4*dvyVar;
const float PS157 = 4*dvzVar;
const float PS158 = P(0,4)*PS72 + P(1,4)*PS62 + P(2,4)*PS60 - P(3,4)*PS74 - P(4,13)*PS44 + P(4,14)*PS140 - P(4,15)*PS139 + P(4,4);
const float PS159 = 2*PS141;
const float PS160 = 2*PS68;
const float PS161 = PS65*dvyVar;
const float PS162 = 2*PS66;
const float PS163 = PS44*dvxVar;
const float PS164 = P(0,5)*PS72 + P(1,5)*PS62 + P(2,5)*PS60 - P(3,5)*PS74 + P(4,5) - P(5,13)*PS44 + P(5,14)*PS140 - P(5,15)*PS139;
const float PS165 = 2*PS71;
const float PS166 = 2*PS73;
const float PS167 = PS70*dvzVar;
const float PS168 = P(0,6)*PS72 + P(1,6)*PS62 + P(2,6)*PS60 - P(3,6)*PS74 + P(4,6) - P(6,13)*PS44 + P(6,14)*PS140 - P(6,15)*PS139;
const float PS169 = P(0,14)*PS74 - P(1,14)*PS60 - P(13,14)*PS162 - P(14,14)*PS65 + P(14,15)*PS160 + P(2,14)*PS62 + P(3,14)*PS72 + P(5,14);
const float PS170 = P(0,13)*PS74 - P(1,13)*PS60 - P(13,13)*PS162 - P(13,14)*PS65 + P(13,15)*PS160 + P(2,13)*PS62 + P(3,13)*PS72 + P(5,13);
const float PS171 = P(0,1)*PS74;
const float PS172 = -P(1,1)*PS60 - P(1,13)*PS162 - P(1,14)*PS65 + P(1,15)*PS160 + P(1,3)*PS72 + P(1,5) + PS150 + PS171;
const float PS173 = P(0,15)*PS74 - P(1,15)*PS60 - P(13,15)*PS162 - P(14,15)*PS65 + P(15,15)*PS160 + P(2,15)*PS62 + P(3,15)*PS72 + P(5,15);
const float PS174 = P(2,3)*PS62;
const float PS175 = -P(1,3)*PS60 - P(3,13)*PS162 - P(3,14)*PS65 + P(3,15)*PS160 + P(3,3)*PS72 + P(3,5) + PS148 + PS174;
const float PS176 = P(0,1)*PS60;
const float PS177 = P(0,0)*PS74 - P(0,13)*PS162 - P(0,14)*PS65 + P(0,15)*PS160 + P(0,2)*PS62 + P(0,5) + PS144 - PS176;
const float PS178 = P(2,3)*PS72;
const float PS179 = P(0,2)*PS74 - P(2,13)*PS162 - P(2,14)*PS65 + P(2,15)*PS160 + P(2,2)*PS62 + P(2,5) - PS153 + PS178;
const float PS180 = 4*dvxVar;
const float PS181 = P(0,5)*PS74 - P(1,5)*PS60 + P(2,5)*PS62 + P(3,5)*PS72 - P(5,13)*PS162 - P(5,14)*PS65 + P(5,15)*PS160 + P(5,5);
const float PS182 = P(0,6)*PS74 - P(1,6)*PS60 + P(2,6)*PS62 + P(3,6)*PS72 + P(5,6) - P(6,13)*PS162 - P(6,14)*PS65 + P(6,15)*PS160;
const float PS183 = P(0,15)*PS60 + P(1,15)*PS74 + P(13,15)*PS166 - P(14,15)*PS165 - P(15,15)*PS70 - P(2,15)*PS72 + P(3,15)*PS62 + P(6,15);
const float PS184 = P(0,14)*PS60 + P(1,14)*PS74 + P(13,14)*PS166 - P(14,14)*PS165 - P(14,15)*PS70 - P(2,14)*PS72 + P(3,14)*PS62 + P(6,14);
const float PS185 = P(0,13)*PS60 + P(1,13)*PS74 + P(13,13)*PS166 - P(13,14)*PS165 - P(13,15)*PS70 - P(2,13)*PS72 + P(3,13)*PS62 + P(6,13);
const float PS186 = P(0,6)*PS60 + P(1,6)*PS74 - P(2,6)*PS72 + P(3,6)*PS62 + P(6,13)*PS166 - P(6,14)*PS165 - P(6,15)*PS70 + P(6,6);


nextP(0,0) = PS0*PS1 - PS11*PS23 - PS12*PS26 - PS13*PS29 + PS14*PS6 + PS17*PS7 + PS2*PS3 + PS20*PS9 + PS33 + PS4*PS5;
nextP(0,1) = -PS1*PS36 + PS11*PS33 - PS12*PS29 + PS13*PS26 - PS14*PS34 + PS17*PS9 - PS20*PS7 + PS23 + PS3*PS35 - PS35*PS5;
nextP(1,1) = PS1*PS42 + PS11*PS80 - PS12*PS89 + PS13*PS82 + PS2*PS5 + PS3*PS4 - PS34*PS85 - PS7*PS87 + PS77*PS9 + PS92;
nextP(0,2) = -PS1*PS37 + PS11*PS29 + PS12*PS33 - PS13*PS23 - PS14*PS9 - PS17*PS34 + PS20*PS6 + PS26 - PS3*PS38 + PS37*PS5;
nextP(1,2) = PS1*PS40 + PS11*PS89 + PS12*PS80 - PS13*PS92 - PS3*PS40 - PS34*PS77 - PS39*PS5 + PS6*PS87 + PS82 - PS85*PS9;
nextP(2,2) = PS0*PS5 + PS1*PS4 + PS103*PS6 + PS104*PS11 + PS106*PS12 - PS108*PS34 - PS109*PS9 - PS111*PS13 + PS113 + PS3*PS42;
nextP(0,3) = PS1*PS39 - PS11*PS26 + PS12*PS23 + PS13*PS33 + PS14*PS7 - PS17*PS6 - PS20*PS34 + PS29 - PS3*PS39 - PS40*PS5;
nextP(1,3) = -PS1*PS38 - PS11*PS82 + PS12*PS92 + PS13*PS80 - PS3*PS37 - PS34*PS87 + PS38*PS5 - PS6*PS77 + PS7*PS85 + PS89;
nextP(2,3) = -PS1*PS35 - PS103*PS34 + PS104 + PS106*PS13 - PS108*PS6 + PS109*PS7 - PS11*PS113 + PS111*PS12 + PS3*PS36 - PS36*PS5;
nextP(3,3) = PS0*PS3 + PS1*PS2 - PS11*PS128 + PS12*PS124 + PS123*PS7 + PS125*PS13 - PS126*PS34 - PS127*PS6 + PS129 + PS42*PS5;
nextP(0,4) = PS23*PS62 + PS26*PS60 - PS44*PS45 - PS46*PS48 - PS52*PS53 + PS54*PS56 + PS57*PS58 + PS63;
nextP(1,4) = -PS44*PS93 - PS46*PS95 + PS54*PS97 + PS60*PS82 + PS62*PS92 + PS72*PS80 - PS74*PS89 + PS98;
nextP(2,4) = -PS104*PS74 + PS106*PS72 + PS111*PS62 + PS113*PS60 - PS114*PS44 - PS116*PS46 + PS118*PS54 + PS119;
nextP(3,4) = PS124*PS62 + PS125*PS72 + PS128*PS60 - PS129*PS74 - PS130*PS44 - PS132*PS46 + PS134*PS54 + PS135;
nextP(4,4) = -PS139*PS142 + PS140*PS146 - PS141*PS44 - PS145*PS74 + PS149*PS72 + PS152*PS60 + PS155*PS62 + PS156*powf(PS54, 2) + PS157*powf(PS46, 2) + PS158 + powf(PS44, 2)*dvxVar;
nextP(0,5) = -PS23*PS60 + PS26*PS62 + PS48*PS68 + PS52*PS58 + PS53*PS57 - PS55*PS65 - PS66*PS67 + PS69;
nextP(1,5) = PS100 - PS60*PS92 + PS62*PS82 - PS65*PS96 - PS66*PS99 + PS68*PS95 + PS72*PS89 + PS74*PS80;
nextP(2,5) = PS104*PS72 + PS106*PS74 - PS111*PS60 + PS113*PS62 + PS116*PS68 - PS117*PS65 - PS120*PS66 + PS121;
nextP(3,5) = -PS124*PS60 + PS125*PS74 + PS128*PS62 + PS129*PS72 + PS132*PS68 - PS133*PS65 - PS136*PS66 + PS137;
nextP(4,5) = -PS140*PS161 + PS142*PS160 + PS145*PS72 - PS146*PS65 + PS149*PS74 + PS152*PS62 - PS155*PS60 - PS157*PS46*PS68 - PS159*PS66 + PS162*PS163 + PS164;
nextP(5,5) = PS157*powf(PS68, 2) + PS160*PS173 - PS162*PS170 - PS169*PS65 - PS172*PS60 + PS175*PS72 + PS177*PS74 + PS179*PS62 + PS180*powf(PS66, 2) + PS181 + powf(PS65, 2)*dvyVar;
nextP(0,6) = PS23*PS74 - PS26*PS72 - PS47*PS70 + PS53*PS61 - PS56*PS71 + PS58*PS59 + PS67*PS73 + PS75;
nextP(1,6) = PS101 + PS60*PS80 + PS62*PS89 - PS70*PS94 - PS71*PS97 - PS72*PS82 + PS73*PS99 + PS74*PS92;
nextP(2,6) = PS104*PS62 + PS106*PS60 + PS111*PS74 - PS113*PS72 - PS115*PS70 - PS118*PS71 + PS120*PS73 + PS122;
nextP(3,6) = PS124*PS74 + PS125*PS60 - PS128*PS72 + PS129*PS62 - PS131*PS70 - PS134*PS71 + PS136*PS73 + PS138;
nextP(4,6) = PS139*PS167 - PS142*PS70 + PS145*PS62 - PS146*PS165 + PS149*PS60 - PS152*PS72 + PS155*PS74 - PS156*PS54*PS71 + PS159*PS73 - PS163*PS166 + PS168;
nextP(5,6) = -PS160*PS167 + PS161*PS165 - PS165*PS169 + PS166*PS170 + PS172*PS74 - PS173*PS70 + PS175*PS62 + PS177*PS60 - PS179*PS72 - PS180*PS66*PS73 + PS182;
nextP(6,6) = PS156*powf(PS71, 2) - PS165*PS184 + PS166*PS185 + PS180*powf(PS73, 2) - PS183*PS70 + PS186 + PS60*(P(0,0)*PS60 + P(0,13)*PS166 - P(0,14)*PS165 - P(0,15)*PS70 + P(0,3)*PS62 + P(0,6) - PS151 + PS171) + PS62*(P(0,3)*PS60 + P(3,13)*PS166 - P(3,14)*PS165 - P(3,15)*PS70 + P(3,3)*PS62 + P(3,6) + PS154 - PS178) + powf(PS70, 2)*dvzVar - PS72*(P(1,2)*PS74 + P(2,13)*PS166 - P(2,14)*PS165 - P(2,15)*PS70 - P(2,2)*PS72 + P(2,6) + PS147 + PS174) + PS74*(P(1,1)*PS74 + P(1,13)*PS166 - P(1,14)*PS165 - P(1,15)*PS70 - P(1,2)*PS72 + P(1,6) + PS143 + PS176);
nextP(0,7) = P(0,7) - P(1,7)*PS11 - P(2,7)*PS12 - P(3,7)*PS13 + P(7,10)*PS6 + P(7,11)*PS7 + P(7,12)*PS9 + PS63*dt;
nextP(1,7) = P(0,7)*PS11 + P(1,7) + P(2,7)*PS13 - P(3,7)*PS12 - P(7,10)*PS34 + P(7,11)*PS9 - P(7,12)*PS7 + PS98*dt;
nextP(2,7) = P(0,7)*PS12 - P(1,7)*PS13 + P(2,7) + P(3,7)*PS11 - P(7,10)*PS9 - P(7,11)*PS34 + P(7,12)*PS6 + PS119*dt;
nextP(3,7) = P(0,7)*PS13 + P(1,7)*PS12 - P(2,7)*PS11 + P(3,7) + P(7,10)*PS7 - P(7,11)*PS6 - P(7,12)*PS34 + PS135*dt;
nextP(4,7) = P(0,7)*PS72 + P(1,7)*PS62 + P(2,7)*PS60 - P(3,7)*PS74 + P(4,7) - P(7,13)*PS44 + P(7,14)*PS140 - P(7,15)*PS139 + PS158*dt;
nextP(5,7) = P(0,7)*PS74 - P(1,7)*PS60 + P(2,7)*PS62 + P(3,7)*PS72 + P(5,7) - P(7,13)*PS162 - P(7,14)*PS65 + P(7,15)*PS160 + dt*(P(0,4)*PS74 - P(1,4)*PS60 + P(2,4)*PS62 + P(3,4)*PS72 - P(4,13)*PS162 - P(4,14)*PS65 + P(4,15)*PS160 + P(4,5));
nextP(6,7) = P(0,7)*PS60 + P(1,7)*PS74 - P(2,7)*PS72 + P(3,7)*PS62 + P(6,7) + P(7,13)*PS166 - P(7,14)*PS165 - P(7,15)*PS70 + dt*(P(0,4)*PS60 + P(1,4)*PS74 - P(2,4)*PS72 + P(3,4)*PS62 + P(4,13)*PS166 - P(4,14)*PS165 - P(4,15)*PS70 + P(4,6));
nextP(7,7) = P(4,7)*dt + P(7,7) + dt*(P(4,4)*dt + P(4,7));
nextP(0,8) = P(0,8) - P(1,8)*PS11 - P(2,8)*PS12 - P(3,8)*PS13 + P(8,10)*PS6 + P(8,11)*PS7 + P(8,12)*PS9 + PS69*dt;
nextP(1,8) = P(0,8)*PS11 + P(1,8) + P(2,8)*PS13 - P(3,8)*PS12 - P(8,10)*PS34 + P(8,11)*PS9 - P(8,12)*PS7 + PS100*dt;
nextP(2,8) = P(0,8)*PS12 - P(1,8)*PS13 + P(2,8) + P(3,8)*PS11 - P(8,10)*PS9 - P(8,11)*PS34 + P(8,12)*PS6 + PS121*dt;
nextP(3,8) = P(0,8)*PS13 + P(1,8)*PS12 - P(2,8)*PS11 + P(3,8) + P(8,10)*PS7 - P(8,11)*PS6 - P(8,12)*PS34 + PS137*dt;
nextP(4,8) = P(0,8)*PS72 + P(1,8)*PS62 + P(2,8)*PS60 - P(3,8)*PS74 + P(4,8) - P(8,13)*PS44 + P(8,14)*PS140 - P(8,15)*PS139 + PS164*dt;
nextP(5,8) = P(0,8)*PS74 - P(1,8)*PS60 + P(2,8)*PS62 + P(3,8)*PS72 + P(5,8) - P(8,13)*PS162 - P(8,14)*PS65 + P(8,15)*PS160 + PS181*dt;
nextP(6,8) = P(0,8)*PS60 + P(1,8)*PS74 - P(2,8)*PS72 + P(3,8)*PS62 + P(6,8) + P(8,13)*PS166 - P(8,14)*PS165 - P(8,15)*PS70 + dt*(P(0,5)*PS60 + P(1,5)*PS74 - P(2,5)*PS72 + P(3,5)*PS62 + P(5,13)*PS166 - P(5,14)*PS165 - P(5,15)*PS70 + P(5,6));
nextP(7,8) = P(4,8)*dt + P(7,8) + dt*(P(4,5)*dt + P(5,7));
nextP(8,8) = P(5,8)*dt + P(8,8) + dt*(P(5,5)*dt + P(5,8));
nextP(0,9) = P(0,9) - P(1,9)*PS11 - P(2,9)*PS12 - P(3,9)*PS13 + P(9,10)*PS6 + P(9,11)*PS7 + P(9,12)*PS9 + PS75*dt;
nextP(1,9) = P(0,9)*PS11 + P(1,9) + P(2,9)*PS13 - P(3,9)*PS12 - P(9,10)*PS34 + P(9,11)*PS9 - P(9,12)*PS7 + PS101*dt;
nextP(2,9) = P(0,9)*PS12 - P(1,9)*PS13 + P(2,9) + P(3,9)*PS11 - P(9,10)*PS9 - P(9,11)*PS34 + P(9,12)*PS6 + PS122*dt;
nextP(3,9) = P(0,9)*PS13 + P(1,9)*PS12 - P(2,9)*PS11 + P(3,9) + P(9,10)*PS7 - P(9,11)*PS6 - P(9,12)*PS34 + PS138*dt;
nextP(4,9) = P(0,9)*PS72 + P(1,9)*PS62 + P(2,9)*PS60 - P(3,9)*PS74 + P(4,9) - P(9,13)*PS44 + P(9,14)*PS140 - P(9,15)*PS139 + PS168*dt;
nextP(5,9) = P(0,9)*PS74 - P(1,9)*PS60 + P(2,9)*PS62 + P(3,9)*PS72 + P(5,9) - P(9,13)*PS162 - P(9,14)*PS65 + P(9,15)*PS160 + PS182*dt;
nextP(6,9) = P(0,9)*PS60 + P(1,9)*PS74 - P(2,9)*PS72 + P(3,9)*PS62 + P(6,9) + P(9,13)*PS166 - P(9,14)*PS165 - P(9,15)*PS70 + PS186*dt;
nextP(7,9) = P(4,9)*dt + P(7,9) + dt*(P(4,6)*dt + P(6,7));
nextP(8,9) = P(5,9)*dt + P(8,9) + dt*(P(5,6)*dt + P(6,8));
nextP(9,9) = P(6,9)*dt + P(9,9) + dt*(P(6,6)*dt + P(6,9));
nextP(0,10) = PS14;
nextP(1,10) = PS85;
nextP(2,10) = PS109;
nextP(3,10) = PS123;
nextP(4,10) = P(0,10)*PS72 + P(1,10)*PS62 - P(10,13)*PS44 + P(10,14)*PS140 - P(10,15)*PS139 + P(2,10)*PS60 - P(3,10)*PS74 + P(4,10);
nextP(5,10) = P(0,10)*PS74 - P(1,10)*PS60 - P(10,13)*PS162 - P(10,14)*PS65 + P(10,15)*PS160 + P(2,10)*PS62 + P(3,10)*PS72 + P(5,10);
nextP(6,10) = P(0,10)*PS60 + P(1,10)*PS74 + P(10,13)*PS166 - P(10,14)*PS165 - P(10,15)*PS70 - P(2,10)*PS72 + P(3,10)*PS62 + P(6,10);
nextP(7,10) = P(4,10)*dt + P(7,10);
nextP(8,10) = P(5,10)*dt + P(8,10);
nextP(9,10) = P(6,10)*dt + P(9,10);
nextP(10,10) = P(10,10);
nextP(0,11) = PS17;
nextP(1,11) = PS77;
nextP(2,11) = PS108;
nextP(3,11) = PS127;
nextP(4,11) = P(0,11)*PS72 + P(1,11)*PS62 - P(11,13)*PS44 + P(11,14)*PS140 - P(11,15)*PS139 + P(2,11)*PS60 - P(3,11)*PS74 + P(4,11);
nextP(5,11) = P(0,11)*PS74 - P(1,11)*PS60 - P(11,13)*PS162 - P(11,14)*PS65 + P(11,15)*PS160 + P(2,11)*PS62 + P(3,11)*PS72 + P(5,11);
nextP(6,11) = P(0,11)*PS60 + P(1,11)*PS74 + P(11,13)*PS166 - P(11,14)*PS165 - P(11,15)*PS70 - P(2,11)*PS72 + P(3,11)*PS62 + P(6,11);
nextP(7,11) = P(4,11)*dt + P(7,11);
nextP(8,11) = P(5,11)*dt + P(8,11);
nextP(9,11) = P(6,11)*dt + P(9,11);
nextP(10,11) = P(10,11);
nextP(11,11) = P(11,11);
nextP(0,12) = PS20;
nextP(1,12) = PS87;
nextP(2,12) = PS103;
nextP(3,12) = PS126;
nextP(4,12) = P(0,12)*PS72 + P(1,12)*PS62 - P(12,13)*PS44 + P(12,14)*PS140 - P(12,15)*PS139 + P(2,12)*PS60 - P(3,12)*PS74 + P(4,12);
nextP(5,12) = P(0,12)*PS74 - P(1,12)*PS60 - P(12,13)*PS162 - P(12,14)*PS65 + P(12,15)*PS160 + P(2,12)*PS62 + P(3,12)*PS72 + P(5,12);
nextP(6,12) = P(0,12)*PS60 + P(1,12)*PS74 + P(12,13)*PS166 - P(12,14)*PS165 - P(12,15)*PS70 - P(2,12)*PS72 + P(3,12)*PS62 + P(6,12);
nextP(7,12) = P(4,12)*dt + P(7,12);
nextP(8,12) = P(5,12)*dt + P(8,12);
nextP(9,12) = P(6,12)*dt + P(9,12);
nextP(10,12) = P(10,12);
nextP(11,12) = P(11,12);
nextP(12,12) = P(12,12);
nextP(0,13) = PS45;
nextP(1,13) = PS93;
nextP(2,13) = PS114;
nextP(3,13) = PS130;
nextP(4,13) = PS141;
nextP(5,13) = PS170;
nextP(6,13) = PS185;
nextP(7,13) = P(4,13)*dt + P(7,13);
nextP(8,13) = P(5,13)*dt + P(8,13);
nextP(9,13) = P(6,13)*dt + P(9,13);
nextP(10,13) = P(10,13);
nextP(11,13) = P(11,13);
nextP(12,13) = P(12,13);
nextP(13,13) = P(13,13);
nextP(0,14) = PS55;
nextP(1,14) = PS96;
nextP(2,14) = PS117;
nextP(3,14) = PS133;
nextP(4,14) = PS146;
nextP(5,14) = PS169;
nextP(6,14) = PS184;
nextP(7,14) = P(4,14)*dt + P(7,14);
nextP(8,14) = P(5,14)*dt + P(8,14);
nextP(9,14) = P(6,14)*dt + P(9,14);
nextP(10,14) = P(10,14);
nextP(11,14) = P(11,14);
nextP(12,14) = P(12,14);
nextP(13,14) = P(13,14);
nextP(14,14) = P(14,14);
nextP(0,15) = PS47;
nextP(1,15) = PS94;
nextP(2,15) = PS115;
nextP(3,15) = PS131;
nextP(4,15) = PS142;
nextP(5,15) = PS173;
nextP(6,15) = PS183;
nextP(7,15) = P(4,15)*dt + P(7,15);
nextP(8,15) = P(5,15)*dt + P(8,15);
nextP(9,15) = P(6,15)*dt + P(9,15);
nextP(10,15) = P(10,15);
nextP(11,15) = P(11,15);
nextP(12,15) = P(12,15);
nextP(13,15) = P(13,15);
nextP(14,15) = P(14,15);
nextP(15,15) = P(15,15);
nextP(0,16) = P(0,16) - P(1,16)*PS11 + P(10,16)*PS6 + P(11,16)*PS7 + P(12,16)*PS9 - P(2,16)*PS12 - P(3,16)*PS13;
nextP(1,16) = P(0,16)*PS11 + P(1,16) - P(10,16)*PS34 + P(11,16)*PS9 - P(12,16)*PS7 + P(2,16)*PS13 - P(3,16)*PS12;
nextP(2,16) = P(0,16)*PS12 - P(1,16)*PS13 - P(10,16)*PS9 - P(11,16)*PS34 + P(12,16)*PS6 + P(2,16) + P(3,16)*PS11;
nextP(3,16) = P(0,16)*PS13 + P(1,16)*PS12 + P(10,16)*PS7 - P(11,16)*PS6 - P(12,16)*PS34 - P(2,16)*PS11 + P(3,16);
nextP(4,16) = P(0,16)*PS72 + P(1,16)*PS62 - P(13,16)*PS44 + P(14,16)*PS140 - P(15,16)*PS139 + P(2,16)*PS60 - P(3,16)*PS74 + P(4,16);
nextP(5,16) = P(0,16)*PS74 - P(1,16)*PS60 - P(13,16)*PS162 - P(14,16)*PS65 + P(15,16)*PS160 + P(2,16)*PS62 + P(3,16)*PS72 + P(5,16);
nextP(6,16) = P(0,16)*PS60 + P(1,16)*PS74 + P(13,16)*PS166 - P(14,16)*PS165 - P(15,16)*PS70 - P(2,16)*PS72 + P(3,16)*PS62 + P(6,16);
nextP(7,16) = P(4,16)*dt + P(7,16);
nextP(8,16) = P(5,16)*dt + P(8,16);
nextP(9,16) = P(6,16)*dt + P(9,16);
nextP(10,16) = P(10,16);
nextP(11,16) = P(11,16);
nextP(12,16) = P(12,16);
nextP(13,16) = P(13,16);
nextP(14,16) = P(14,16);
nextP(15,16) = P(15,16);
nextP(16,16) = P(16,16);
nextP(0,17) = P(0,17) - P(1,17)*PS11 + P(10,17)*PS6 + P(11,17)*PS7 + P(12,17)*PS9 - P(2,17)*PS12 - P(3,17)*PS13;
nextP(1,17) = P(0,17)*PS11 + P(1,17) - P(10,17)*PS34 + P(11,17)*PS9 - P(12,17)*PS7 + P(2,17)*PS13 - P(3,17)*PS12;
nextP(2,17) = P(0,17)*PS12 - P(1,17)*PS13 - P(10,17)*PS9 - P(11,17)*PS34 + P(12,17)*PS6 + P(2,17) + P(3,17)*PS11;
nextP(3,17) = P(0,17)*PS13 + P(1,17)*PS12 + P(10,17)*PS7 - P(11,17)*PS6 - P(12,17)*PS34 - P(2,17)*PS11 + P(3,17);
nextP(4,17) = P(0,17)*PS72 + P(1,17)*PS62 - P(13,17)*PS44 + P(14,17)*PS140 - P(15,17)*PS139 + P(2,17)*PS60 - P(3,17)*PS74 + P(4,17);
nextP(5,17) = P(0,17)*PS74 - P(1,17)*PS60 - P(13,17)*PS162 - P(14,17)*PS65 + P(15,17)*PS160 + P(2,17)*PS62 + P(3,17)*PS72 + P(5,17);
nextP(6,17) = P(0,17)*PS60 + P(1,17)*PS74 + P(13,17)*PS166 - P(14,17)*PS165 - P(15,17)*PS70 - P(2,17)*PS72 + P(3,17)*PS62 + P(6,17);
nextP(7,17) = P(4,17)*dt + P(7,17);
nextP(8,17) = P(5,17)*dt + P(8,17);
nextP(9,17) = P(6,17)*dt + P(9,17);
nextP(10,17) = P(10,17);
nextP(11,17) = P(11,17);
nextP(12,17) = P(12,17);
nextP(13,17) = P(13,17);
nextP(14,17) = P(14,17);
nextP(15,17) = P(15,17);
nextP(16,17) = P(16,17);
nextP(17,17) = P(17,17);
nextP(0,18) = P(0,18) - P(1,18)*PS11 + P(10,18)*PS6 + P(11,18)*PS7 + P(12,18)*PS9 - P(2,18)*PS12 - P(3,18)*PS13;
nextP(1,18) = P(0,18)*PS11 + P(1,18) - P(10,18)*PS34 + P(11,18)*PS9 - P(12,18)*PS7 + P(2,18)*PS13 - P(3,18)*PS12;
nextP(2,18) = P(0,18)*PS12 - P(1,18)*PS13 - P(10,18)*PS9 - P(11,18)*PS34 + P(12,18)*PS6 + P(2,18) + P(3,18)*PS11;
nextP(3,18) = P(0,18)*PS13 + P(1,18)*PS12 + P(10,18)*PS7 - P(11,18)*PS6 - P(12,18)*PS34 - P(2,18)*PS11 + P(3,18);
nextP(4,18) = P(0,18)*PS72 + P(1,18)*PS62 - P(13,18)*PS44 + P(14,18)*PS140 - P(15,18)*PS139 + P(2,18)*PS60 - P(3,18)*PS74 + P(4,18);
nextP(5,18) = P(0,18)*PS74 - P(1,18)*PS60 - P(13,18)*PS162 - P(14,18)*PS65 + P(15,18)*PS160 + P(2,18)*PS62 + P(3,18)*PS72 + P(5,18);
nextP(6,18) = P(0,18)*PS60 + P(1,18)*PS74 + P(13,18)*PS166 - P(14,18)*PS165 - P(15,18)*PS70 - P(2,18)*PS72 + P(3,18)*PS62 + P(6,18);
nextP(7,18) = P(4,18)*dt + P(7,18);
nextP(8,18) = P(5,18)*dt + P(8,18);
nextP(9,18) = P(6,18)*dt + P(9,18);
nextP(10,18) = P(10,18);
nextP(11,18) = P(11,18);
nextP(12,18) = P(12,18);
nextP(13,18) = P(13,18);
nextP(14,18) = P(14,18);
nextP(15,18) = P(15,18);
nextP(16,18) = P(16,18);
nextP(17,18) = P(17,18);
nextP(18,18) = P(18,18);
nextP(0,19) = P(0,19) - P(1,19)*PS11 + P(10,19)*PS6 + P(11,19)*PS7 + P(12,19)*PS9 - P(2,19)*PS12 - P(3,19)*PS13;
nextP(1,19) = P(0,19)*PS11 + P(1,19) - P(10,19)*PS34 + P(11,19)*PS9 - P(12,19)*PS7 + P(2,19)*PS13 - P(3,19)*PS12;
nextP(2,19) = P(0,19)*PS12 - P(1,19)*PS13 - P(10,19)*PS9 - P(11,19)*PS34 + P(12,19)*PS6 + P(2,19) + P(3,19)*PS11;
nextP(3,19) = P(0,19)*PS13 + P(1,19)*PS12 + P(10,19)*PS7 - P(11,19)*PS6 - P(12,19)*PS34 - P(2,19)*PS11 + P(3,19);
nextP(4,19) = P(0,19)*PS72 + P(1,19)*PS62 - P(13,19)*PS44 + P(14,19)*PS140 - P(15,19)*PS139 + P(2,19)*PS60 - P(3,19)*PS74 + P(4,19);
nextP(5,19) = P(0,19)*PS74 - P(1,19)*PS60 - P(13,19)*PS162 - P(14,19)*PS65 + P(15,19)*PS160 + P(2,19)*PS62 + P(3,19)*PS72 + P(5,19);
nextP(6,19) = P(0,19)*PS60 + P(1,19)*PS74 + P(13,19)*PS166 - P(14,19)*PS165 - P(15,19)*PS70 - P(2,19)*PS72 + P(3,19)*PS62 + P(6,19);
nextP(7,19) = P(4,19)*dt + P(7,19);
nextP(8,19) = P(5,19)*dt + P(8,19);
nextP(9,19) = P(6,19)*dt + P(9,19);
nextP(10,19) = P(10,19);
nextP(11,19) = P(11,19);
nextP(12,19) = P(12,19);
nextP(13,19) = P(13,19);
nextP(14,19) = P(14,19);
nextP(15,19) = P(15,19);
nextP(16,19) = P(16,19);
nextP(17,19) = P(17,19);
nextP(18,19) = P(18,19);
nextP(19,19) = P(19,19);
nextP(0,20) = P(0,20) - P(1,20)*PS11 + P(10,20)*PS6 + P(11,20)*PS7 + P(12,20)*PS9 - P(2,20)*PS12 - P(3,20)*PS13;
nextP(1,20) = P(0,20)*PS11 + P(1,20) - P(10,20)*PS34 + P(11,20)*PS9 - P(12,20)*PS7 + P(2,20)*PS13 - P(3,20)*PS12;
nextP(2,20) = P(0,20)*PS12 - P(1,20)*PS13 - P(10,20)*PS9 - P(11,20)*PS34 + P(12,20)*PS6 + P(2,20) + P(3,20)*PS11;
nextP(3,20) = P(0,20)*PS13 + P(1,20)*PS12 + P(10,20)*PS7 - P(11,20)*PS6 - P(12,20)*PS34 - P(2,20)*PS11 + P(3,20);
nextP(4,20) = P(0,20)*PS72 + P(1,20)*PS62 - P(13,20)*PS44 + P(14,20)*PS140 - P(15,20)*PS139 + P(2,20)*PS60 - P(3,20)*PS74 + P(4,20);
nextP(5,20) = P(0,20)*PS74 - P(1,20)*PS60 - P(13,20)*PS162 - P(14,20)*PS65 + P(15,20)*PS160 + P(2,20)*PS62 + P(3,20)*PS72 + P(5,20);
nextP(6,20) = P(0,20)*PS60 + P(1,20)*PS74 + P(13,20)*PS166 - P(14,20)*PS165 - P(15,20)*PS70 - P(2,20)*PS72 + P(3,20)*PS62 + P(6,20);
nextP(7,20) = P(4,20)*dt + P(7,20);
nextP(8,20) = P(5,20)*dt + P(8,20);
nextP(9,20) = P(6,20)*dt + P(9,20);
nextP(10,20) = P(10,20);
nextP(11,20) = P(11,20);
nextP(12,20) = P(12,20);
nextP(13,20) = P(13,20);
nextP(14,20) = P(14,20);
nextP(15,20) = P(15,20);
nextP(16,20) = P(16,20);
nextP(17,20) = P(17,20);
nextP(18,20) = P(18,20);
nextP(19,20) = P(19,20);
nextP(20,20) = P(20,20);
nextP(0,21) = P(0,21) - P(1,21)*PS11 + P(10,21)*PS6 + P(11,21)*PS7 + P(12,21)*PS9 - P(2,21)*PS12 - P(3,21)*PS13;
nextP(1,21) = P(0,21)*PS11 + P(1,21) - P(10,21)*PS34 + P(11,21)*PS9 - P(12,21)*PS7 + P(2,21)*PS13 - P(3,21)*PS12;
nextP(2,21) = P(0,21)*PS12 - P(1,21)*PS13 - P(10,21)*PS9 - P(11,21)*PS34 + P(12,21)*PS6 + P(2,21) + P(3,21)*PS11;
nextP(3,21) = P(0,21)*PS13 + P(1,21)*PS12 + P(10,21)*PS7 - P(11,21)*PS6 - P(12,21)*PS34 - P(2,21)*PS11 + P(3,21);
nextP(4,21) = P(0,21)*PS72 + P(1,21)*PS62 - P(13,21)*PS44 + P(14,21)*PS140 - P(15,21)*PS139 + P(2,21)*PS60 - P(3,21)*PS74 + P(4,21);
nextP(5,21) = P(0,21)*PS74 - P(1,21)*PS60 - P(13,21)*PS162 - P(14,21)*PS65 + P(15,21)*PS160 + P(2,21)*PS62 + P(3,21)*PS72 + P(5,21);
nextP(6,21) = P(0,21)*PS60 + P(1,21)*PS74 + P(13,21)*PS166 - P(14,21)*PS165 - P(15,21)*PS70 - P(2,21)*PS72 + P(3,21)*PS62 + P(6,21);
nextP(7,21) = P(4,21)*dt + P(7,21);
nextP(8,21) = P(5,21)*dt + P(8,21);
nextP(9,21) = P(6,21)*dt + P(9,21);
nextP(10,21) = P(10,21);
nextP(11,21) = P(11,21);
nextP(12,21) = P(12,21);
nextP(13,21) = P(13,21);
nextP(14,21) = P(14,21);
nextP(15,21) = P(15,21);
nextP(16,21) = P(16,21);
nextP(17,21) = P(17,21);
nextP(18,21) = P(18,21);
nextP(19,21) = P(19,21);
nextP(20,21) = P(20,21);
nextP(21,21) = P(21,21);
nextP(0,22) = P(0,22) - P(1,22)*PS11 + P(10,22)*PS6 + P(11,22)*PS7 + P(12,22)*PS9 - P(2,22)*PS12 - P(3,22)*PS13;
nextP(1,22) = P(0,22)*PS11 + P(1,22) - P(10,22)*PS34 + P(11,22)*PS9 - P(12,22)*PS7 + P(2,22)*PS13 - P(3,22)*PS12;
nextP(2,22) = P(0,22)*PS12 - P(1,22)*PS13 - P(10,22)*PS9 - P(11,22)*PS34 + P(12,22)*PS6 + P(2,22) + P(3,22)*PS11;
nextP(3,22) = P(0,22)*PS13 + P(1,22)*PS12 + P(10,22)*PS7 - P(11,22)*PS6 - P(12,22)*PS34 - P(2,22)*PS11 + P(3,22);
nextP(4,22) = P(0,22)*PS72 + P(1,22)*PS62 - P(13,22)*PS44 + P(14,22)*PS140 - P(15,22)*PS139 + P(2,22)*PS60 - P(3,22)*PS74 + P(4,22);
nextP(5,22) = P(0,22)*PS74 - P(1,22)*PS60 - P(13,22)*PS162 - P(14,22)*PS65 + P(15,22)*PS160 + P(2,22)*PS62 + P(3,22)*PS72 + P(5,22);
nextP(6,22) = P(0,22)*PS60 + P(1,22)*PS74 + P(13,22)*PS166 - P(14,22)*PS165 - P(15,22)*PS70 - P(2,22)*PS72 + P(3,22)*PS62 + P(6,22);
nextP(7,22) = P(4,22)*dt + P(7,22);
nextP(8,22) = P(5,22)*dt + P(8,22);
nextP(9,22) = P(6,22)*dt + P(9,22);
nextP(10,22) = P(10,22);
nextP(11,22) = P(11,22);
nextP(12,22) = P(12,22);
nextP(13,22) = P(13,22);
nextP(14,22) = P(14,22);
nextP(15,22) = P(15,22);
nextP(16,22) = P(16,22);
nextP(17,22) = P(17,22);
nextP(18,22) = P(18,22);
nextP(19,22) = P(19,22);
nextP(20,22) = P(20,22);
nextP(21,22) = P(21,22);
nextP(22,22) = P(22,22);
nextP(0,23) = P(0,23) - P(1,23)*PS11 + P(10,23)*PS6 + P(11,23)*PS7 + P(12,23)*PS9 - P(2,23)*PS12 - P(3,23)*PS13;
nextP(1,23) = P(0,23)*PS11 + P(1,23) - P(10,23)*PS34 + P(11,23)*PS9 - P(12,23)*PS7 + P(2,23)*PS13 - P(3,23)*PS12;
nextP(2,23) = P(0,23)*PS12 - P(1,23)*PS13 - P(10,23)*PS9 - P(11,23)*PS34 + P(12,23)*PS6 + P(2,23) + P(3,23)*PS11;
nextP(3,23) = P(0,23)*PS13 + P(1,23)*PS12 + P(10,23)*PS7 - P(11,23)*PS6 - P(12,23)*PS34 - P(2,23)*PS11 + P(3,23);
nextP(4,23) = P(0,23)*PS72 + P(1,23)*PS62 - P(13,23)*PS44 + P(14,23)*PS140 - P(15,23)*PS139 + P(2,23)*PS60 - P(3,23)*PS74 + P(4,23);
nextP(5,23) = P(0,23)*PS74 - P(1,23)*PS60 - P(13,23)*PS162 - P(14,23)*PS65 + P(15,23)*PS160 + P(2,23)*PS62 + P(3,23)*PS72 + P(5,23);
nextP(6,23) = P(0,23)*PS60 + P(1,23)*PS74 + P(13,23)*PS166 - P(14,23)*PS165 - P(15,23)*PS70 - P(2,23)*PS72 + P(3,23)*PS62 + P(6,23);
nextP(7,23) = P(4,23)*dt + P(7,23);
nextP(8,23) = P(5,23)*dt + P(8,23);
nextP(9,23) = P(6,23)*dt + P(9,23);
nextP(10,23) = P(10,23);
nextP(11,23) = P(11,23);
nextP(12,23) = P(12,23);
nextP(13,23) = P(13,23);
nextP(14,23) = P(14,23);
nextP(15,23) = P(15,23);
nextP(16,23) = P(16,23);
nextP(17,23) = P(17,23);
nextP(18,23) = P(18,23);
nextP(19,23) = P(19,23);
nextP(20,23) = P(20,23);
nextP(21,23) = P(21,23);
nextP(22,23) = P(22,23);
nextP(23,23) = P(23,23);


